load_test_robot.hpp

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/* Author: Jeroen De Maeyer */
 
#pragma once
#include <moveit/robot_model/robot_model.hpp>
#include <moveit/robot_state/robot_state.hpp>
#include <moveit/utils/robot_model_test_utils.hpp>
#include <fstream>
 
namespace ompl_interface_testing
{
class LoadTestRobot
{
protected:
  LoadTestRobot(const std::string& robot_name, const std::string& group_name)
    : group_name_(group_name), robot_name_(robot_name)
  {
    // load robot
    robot_model_ = moveit::core::loadTestingRobotModel(robot_name_);
    robot_state_ = std::make_shared<moveit::core::RobotState>(robot_model_);
    robot_state_->setToDefaultValues();
    joint_model_group_ = robot_state_->getJointModelGroup(group_name_);
 
    // extract useful parameters for tests
    num_dofs_ = joint_model_group_->getVariableCount();
    ee_link_name_ = joint_model_group_->getLinkModelNames().back();
    base_link_name_ = robot_model_->getRootLinkName();
 
    std::cout << "Loading robot: " << robot_name << " for planning group: " << group_name << '\n';
  }
 
  Eigen::VectorXd getRandomState() const
  {
    robot_state_->setToRandomPositions(joint_model_group_);
    Eigen::VectorXd q;
    robot_state_->copyJointGroupPositions(joint_model_group_, q);
    return q;
  }
 
  Eigen::VectorXd getDeterministicState() const
  {
    Eigen::VectorXd state(num_dofs_);
    double value = 0.1;
    for (std::size_t i = 0; i < num_dofs_; ++i)
    {
      state[i] = value;
      value += 0.1;
    }
    return state;
  }
 
protected:
  std::string group_name_;
  std::string robot_name_;
 
  moveit::core::RobotModelPtr robot_model_;
  moveit::core::RobotStatePtr robot_state_;
  const moveit::core::JointModelGroup* joint_model_group_;
 
  std::size_t num_dofs_;
  std::string base_link_name_;
  std::string ee_link_name_;
};
}  // namespace ompl_interface_testing